0x2013 Gain Scheduling¶
Depending on the application, the “optimal” tuning for the cascaded PID controller may differ between different operating points. If there is only one tuning available, it has to be a compromise not using the full potential of the hardware.
This feature allows the user to apply controller gains which will change dynamically regarding the current velocity. This technique can be used within the cascaded position controller to compensate for nonlinear effects, especially stiction/friction in the mechanics.
For velocities (in rpm) below a user-defined value, a set of PID values determined best for slow motion is used. Likewise, for velocities (in rpm) above a user-defined value, a set of PID values determined best for fast motion is used.
The PID values between these values are interpolated linearly.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
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Enabled | 0x2013:1 | BOOL | 1 |
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readwrite | ||||||||
Enables or disables the gain scheduling feature. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Threshold Velocity 0 | 0x2013:2 | UDINT | 32 | 0 | 0 | readwrite | |||||||
Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond it, linear interpolation begins. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Kp 0 | 0x2013:3 | REAL | 32 | 0 | 0 | readwrite | |||||||
The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Ki 0 | 0x2013:4 | REAL | 32 | 0 | 0 | readwrite | |||||||
The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Kd 0 | 0x2013:5 | REAL | 32 | 0 | 0 | readwrite | |||||||
The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Integral Limit 0 | 0x2013:6 | UDINT | 32 | 0 | readwrite | ||||||||
The integrator limit of the Position Control Loop of area 0 (low velocity, below threshold velocity 0). The technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. The limit should always be set in the driving shaft units, this is especially important when a gearbox is used in the setup. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Kp 0 | 0x2013:7 | REAL | 32 | 0 | 0 | readwrite | |||||||
The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Ki 0 | 0x2013:8 | REAL | 32 | 0 | 0 | readwrite | |||||||
The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Kd 0 | 0x2013:9 | REAL | 32 | 0 | 0 | readwrite | |||||||
The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Integral Limit 0 | 0x2013:10 | UDINT | 32 | 0 | readwrite | ||||||||
The integrator limit of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0). The technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Threshold Velocity 1 | 0x2013:11 | UDINT | 32 | 0 | 0 | readwrite | |||||||
Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this velocity linear interpolation is performed. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Kp 1 | 0x2013:12 | REAL | 32 | 0 | 0 | readwrite | |||||||
The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Ki 1 | 0x2013:13 | REAL | 32 | 0 | 0 | readwrite | |||||||
The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Kd 1 | 0x2013:14 | REAL | 32 | 0 | 0 | readwrite | |||||||
The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Position Loop Integral Limit 1 | 0x2013:15 | UDINT | 32 | 0 | readwrite | ||||||||
The integrator limit of the Position Control Loop of area 1 (high velocity, above threshold velocity 1). The technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. The limit should always be set in the driving shaft units, this is especially important when a gearbox is used in the setup. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Kp 1 | 0x2013:16 | REAL | 32 | 0 | 0 | readwrite | |||||||
The P-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/rpm] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Ki 1 | 0x2013:17 | REAL | 32 | 0 | 0 | readwrite | |||||||
The I-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/(rpm*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Kd 1 | 0x2013:18 | REAL | 32 | 0 | 0 | readwrite | |||||||
The D-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
Velocity Loop Integral Limit 1 | 0x2013:19 | UDINT | 32 | 0 | readwrite | ||||||||
The integrator limit of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1). The technique used for preventing the windup is clamping and it prevents the integral term from accumulating above or below pre-determined bounds. |
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